- #!/usr/bin/env python3
- import rospy
- from std_msgs.msg import String
- from geometry_msgs.msg import Twist
- key_mapping = { 'w': [ 0, 1], 'x': [0, -1],
- 'a': [-1, 0], 'd': [1, 0],
- 's': [ 0, 0] }
- def keys_cb(msg, twist_pub):
- if len(msg.data) == 0 or not msg.data[0] in key_mapping:
- return # unknown key
- vels = key_mapping[msg.data[0]]
- t = Twist()
- t.angular.z = vels[0]
- t.linear.x = vels[1]
- twist_pub.publish(t)
- if __name__ == '__main__':
- rospy.init_node('keys_to_twist')
- twist_pub = rospy.Publisher('cmd_vel', Twist, queue_size=1)
- rospy.Subscriber('keys', String, keys_cb, twist_pub)
- rospy.spin()
[text] key2
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- 17 Apr-2024
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